A Soft-Robotic Gripper With Enhanced Object Adaptation and Grasping Reliability

Zhou, Jianshu; Chen, Shu; Wang, Zheng

doi:10.1109/lra.2017.2716445

Cited by 212 publications

(115 citation statements)

References 27 publications

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“…Low et al used two fingers to manipulate a surgical wire. Galloway et al showed the manipulation of delicate deep reefs (Figure ) and Zhou et al reported picking up of various food items, such as a banana, a pear, a piece of tofu, and an egg, using the integration of special materials in the palms of the grippers: a memory foam sheet and a patterned elastomeric layer. Manipulation of objects in amphibious environment was demonstrated by Hao et al…”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…The array achieves a greater system compliance while maintaining comparable composite strength to more traditional individual McKibben actuators of larger diameter . A different use of high aspect ratio features to incorporate compliance into a larger structure was explored by Zhou et al, who incorporated arrays of passive silicone pillars on the inner palm and finger surfaces of a soft robotic hand . The effect of these pillars can be compared to the memory foam used by Galloway et al to minimize the (already low) stress concentration induced by soft grippers .…”

Section: Introductionmentioning

confidence: 99%

“…The effect of these pillars can be compared to the memory foam used by Galloway et al to minimize the (already low) stress concentration induced by soft grippers . Covering a soft robotic hand with macro‐sized cilia can create a more gentle and robust grasp, where the compliant pillars conform to objects while offering lower resistance to shear deformations than memory foam . By introducing fabrication strategies to enable high aspect ratios and large arrays of actuatable soft structures, we hope to contribute to this work of compliant structures that are able to provide distributed strength and manipulation capacity.…”

Section: Introductionmentioning

confidence: 99%

Mechanically Programmable Dip Molding of High Aspect Ratio Soft Actuator Arrays

Becker

Chen

Wood

2020

Adv Funct Materials

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This work presents multiple methods of creating high aspect ratio fluidic soft actuators that can be formed individually or in large arrays via dip coating. Within this methodology, four strategies are provided to mechanically program the motion of these actuators, including the use of fiber inclusions, gravity, surface tension, and electric fields. The modular nature of this dip coating fabrication technique is inexpensive, easy to modify, and scalable. These techniques are used to demonstrate the fabrication of soft actuators with aspect ratios up to 200:1 and integrated arrays of up to 256 actuators. Furthermore, these methods have the potential to achieve higher aspect ratios and larger array sizes. Operating pressure, curvature, and curling strength tests reveal the design space in which fabrication parameters can be selected to tune the input and output parameters of soft bending actuators. An individual bending actuator made with these methods weighs between 0.15 and 0.5 g, can hold up to 2 N, and can be designed to work in groups to increase curling strength with distributed contact forces. Arrays of these actuators may be useful in atypical grasping and manipulation tasks, fluid manipulation, and locomotion.

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“…One class of soft robotic actuators is elastomeric structures powered by pressurized fluids . These types of soft robots have been shown in the form factor of a gripper, tentacle, and rehabilitation glove . These soft fluid actuators are of particular interest for biomedical applications because they are lightweight, inexpensive, easily fabricated, distribute forces easily, and can provide non‐linear motion with simple inputs .…”

Section: Introductionmentioning

confidence: 99%

Using Soft Robotic Technology to Fabricate a Proof‐of‐Concept Transcatheter Tricuspid Valve Replacement (TTVR) Device

Moghadam

Jang

Caprio

et al. 2019

Adv Materials Technologies

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Soft robotics is an emerging field that uses the large reversible strain and non-linear behavior of elastomers to perform sophisticated tasks that would otherwise be impossible or very complex and expensive to do with traditional hard robotic components. [1,2] The use of these "smart" materials allows the fabrication of robotic systems with fewer auxiliary sensors and feedback loops. One class of soft robotic actuators is elastomeric structures powered by pressurized fluids. [3][4][5][6][7][8][9][10][11][12] These types of soft robots have been shown in the form factor of a gripper, [13] tentacle, [14,15] and rehabilitation glove. [16,17] These soft fluid actuators are of particular interest for biomedical applications because they are lightweight, inexpensive, easily fabricated, distribute forces easily, and can provide non-linear motion with Soft robotic technology has great potential for advancing the performance of transcatheter cardiac devices, due to its inherent properties for conformability and simple actuation. This work provides a proof-of-concept tricuspid valve that can be delivered via a catheter and made with soft balloons in order to avoid critical anatomical features in the tricuspid valve and to enhance anchoring. This soft valve is inflatable and thus can be repositioned during delivery to conform and anchor well to the native anatomy. Using a 3D printed model of the tricuspid valve, which is segmented from a patient CT scan, the anchoring force, functionality of the valve, and prevention of paravalvular leakage are demonstrated. Inflatable Heart Valve

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A Soft-Robotic Gripper With Enhanced Object Adaptation and Grasping Reliability

Cited by 212 publications

References 27 publications

Soft Robotic Grippers

Soft Robotic Grippers

Mechanically Programmable Dip Molding of High Aspect Ratio Soft Actuator Arrays

Using Soft Robotic Technology to Fabricate a Proof‐of‐Concept Transcatheter Tricuspid Valve Replacement (TTVR) Device

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